function [div x] = gmm_kl_unscented(f, g)

x = gmmSampleSigmaPoints(f);

div = 0;
for i = 1:size(x, 3)
    fx = gmmprob(f, x(:, :, i));
    gx = gmmprob(g, x(:, :, i));
    div = div + f.priors(i)*sum(log(fx+realmin) - log(gx+realmin));
end

div = div/size(x, 1);
